"It was my first goal for Mansfield and I did like playing at this ground as there's a good atmosphere," he said.
"They were pushing for the play-offs last season so hopefully we can do the same if not better this season."
Medley has league experience from time spent at Bradford City and Brentford, while he also played for Cambridge City and Woking.
Midway through last season went on loan to League Two side Aldershot, before returning to round off the campaign at Field Mill.
He was subsequently released when Paul Cox took over as manager at Field Mill and joins the Harriers as a free agent.
Source: BBC Sport
Source: BBC Sport